JP2019516169A - Queue robot in order fulfillment operation - Google Patents

Abstract

A method for a queue robot destined for a destination in an environment, comprising the steps of: determining whether a first robot occupies a destination; If it is determined to be occupied, it is determined to determine whether a second robot scheduled to go to the destination has entered a predefined target zone near the destination. If the second robot has entered a predefined target zone, the method further comprises the steps of navigating the second robot to the first queue location, and the first robot being unoccupied with the destination. And allowing the second robot to stand by at the first queue location. The method further includes navigating the second robot to the destination after the first robot leaves the destination.

Description

  The present invention relates to robot-assisted product order fulfillment systems and methods and, more particularly, to queuing robots scheduled to a common location.

  Ordering products over the Internet for home delivery is a very popular shopping method. Fulfillment of such orders in a timely, accurate and efficient manner is, to say the least, a logistical issue. When an "Account" button in the virtual shopping cart is clicked, an "order" is created. An order contains a list of items to be shipped to a particular address. The process of "performing" involves physically removing these items from a large warehouse, i.e. "removing items", packing them, and shipping them to a designated address. Thus, an important goal of the order fulfillment process is to ship as many items as possible in the shortest possible time.

  The order fulfillment process is typically performed at a large warehouse that houses many products, including those listed in the order. Thus, the task of order fulfillment includes the task of traversing the warehouse to find and collect the various items listed in the order. In addition, the final shipped products are first transported into the warehouse and stored or "arranged" in the storeroom in order throughout the warehouse so that they can be easily withdrawn for shipping There is a need.

  In a large warehouse, the goods being delivered / ordered can be stored widely separated from one another in the warehouse and distributed among many other goods. In order fulfillment processes that employ only human workers for placement and retrieval of goods, the workers need to walk long, which may be inefficient and time consuming. As the efficiency of the fulfillment process is a function of the number of articles shipped per unit time, the efficiency decreases with increasing time.

  To increase efficiency, robots can be used to perform human roles or can be used to supplement human activity. For example, robots may be assigned to "place" a large number of items at various locations distributed throughout the warehouse, or to "remove" items from various locations for packaging and shipping. Election and placement can be performed with the robot alone or with the assistance of human workers. For example, in the case of the take-out operation, a human worker may take out the article from the shelf and place it on the robot, or in the case of the placement operation, the human worker takes out the article from the robot and places it on the shelf there's a possibility that.

  When multiple robots navigate the space, there is a high possibility that each robot will try to navigate to a position occupied by another robot, resulting in a race condition. Such a race condition is one in which two robots become processor bound as they attempt to reach the same position and try to trade off with the changing external environment. A race condition is highly undesirable and the robot may not be able to perform further operations until this condition is resolved.

  In one aspect, the invention features a method for a queue robot destined for a destination in an environment. The method comprises the steps of: determining whether the first robot occupies a destination; and if it is determined that the first robot occupies a destination, the second robot is scheduled to go to the destination Determining whether the robot of has entered a predefined target zone near the destination. If it is determined that the second robot has entered a predefined target zone, the method comprises the steps of navigating the second robot to the first queue location, and the first robot occupying a destination. And allowing the second robot to stand by at the first queue until it runs out. The method further includes navigating the second robot to the destination after the first robot leaves the destination.

  Other aspects of the invention may include one or more of the following features. The environment may be a warehouse space containing items for the fulfillment of customer orders. The first matrix location may be separated from the destination by a preset distance. The destination may be defined by the target pose, and the first matrix location may be defined by the first matrix pose. The second robot may navigate to the first matrix location by navigating to the first matrix pose. According to this method, when the first robot occupies a destination and the second robot occupies a first queue place, a third robot destined for the destination enters a predefined target zone. It may further include determining whether or not. If it is determined that the third robot has entered a predefined target zone while the first robot has occupied the destination and the second robot has occupied the first queue location, The method may include the steps of navigating the third robot to the second queue location and having the third robot stand by at the second queue location until the first robot does not occupy the destination.

  In a further aspect of the invention, the second matrix location may be separated from the first matrix location by a preset distance. The second matrix location may be defined by a second matrix pose, and the second robot may navigate to the second matrix location by navigating to the second matrix pose. The method further comprises the steps of: determining whether the first robot continues to occupy the destination; and, if not, navigating the second robot to the destination; The method may include the steps of navigating the first robot location to the first queue location, and waiting the third robot at the first queue location until the second robot does not occupy the destination. Navigating the second robot to the destination may include navigating the second robot to the target pose, and navigating the third robot to the first matrix location may include: Navigating the robot to a first matrix pose may be included.

  Another aspect of the invention features a system for a queue robot destined for a destination. There is a management system and at least a first robot and a second robot scheduled to go to a destination. The management system is configured to communicate with at least a first robot and a second robot to determine whether the first robot occupies a destination. If it is determined that the first robot occupies the destination, it is determined whether the second robot has entered a predefined target zone near the destination. If it is determined that the second robot has entered a predefined target zone, the management system navigates the second robot to the queue location until the first robot no longer occupies the destination. Let the robot stand by at a predefined matrix location. The management system then navigates the second robot to the destination after the first robot leaves the destination.

  Other aspects of the invention may include one or more of the following features. The environment may be a warehouse space containing items for the fulfillment of customer orders. The first matrix location may deviate from the destination by a preset distance, and the destination may be defined by the target pose. The first matrix location may be defined by a first matrix pose, and the second robot may navigate to the first matrix location by navigating to the first matrix pose. If the third robot is directed to a destination, the management system may be configured such that when the first robot occupies a destination and the second robot occupies a first queue location, the third robot is It may be configured to determine whether it has entered a predefined target zone. When it is determined that the third robot has entered a predetermined target zone while the first robot occupies the destination and the second robot occupies the first queue place The system directs the third robot to navigate to the second queue location, and has the third robot wait in the second queue location until the first robot no longer occupies the destination. Can.

  In a further aspect of the invention, the second matrix location may be separated from the first matrix location by a preset distance, and the second matrix location may be defined by a second matrix pose. The second robot may navigate to the second matrix location by navigating to the second matrix pose. The management system may further be configured to determine whether the first robot continues to occupy the destination, and if not, the system navigates the second robot to the destination. It can be sent as. The system also directs the third robot to navigate to the first queue location and causes the third robot to stand by at the first queue location until the second robot no longer occupies the destination. The management system may be further configured to direct the second robot to the destination by navigating to the target pose, and the third robot by navigating to the first matrix pose Can be directed to a first queue location.

  A further aspect of the invention comprises a robot capable of navigating to a predefined location in an environment containing at least one additional robot. The robot and at least one additional robot can interact with the management system. The robot includes a movement base, a communication device that enables communication between the robot and the management system, and a processing device that responds to communication with the management system. The processing device is configured to navigate the robot to a destination in the environment and to determine if at least one additional robot occupies the destination. If it is determined that at least one additional robot occupies the destination, it is determined whether the robot has entered a predefined target zone near the destination. If it is determined that the robot has entered a predefined target zone, the processing device navigates the robot to the queue location and predefines the robot until at least one additional robot no longer occupies the destination. Are configured to wait at the queued location. The processing device is then configured to navigate the robot to the destination after the at least one additional robot leaves the destination.

  These and other features of the present invention will be apparent from the following detailed description and the accompanying drawings.

Top view of order fulfillment warehouse. Figure 2 is a perspective view of the base of one robot used in the warehouse shown in Figure 1; FIG. 3 is a perspective view of the robot of FIG. 2 mounted on an armature, staying in front of the shelf shown in FIG. 1; The partial map of the warehouse of FIG. 1 created using the laser radar on a robot. FIG. 6 is a flow chart illustrating a process for locating fiducial markers distributed throughout a warehouse and storing the fiducial marker pose. A table of fiducial IDs for mapping. Table of container locations for fiducial ID mapping. Flow chart showing a product SKU (Stock Keeping Unit) for performing the mapping process. FIG. 5 is a schematic diagram of target and queue locations used in the queuing process according to the invention. Fig. 5 is a flowchart illustrating a queuing robot process according to the present invention.

  Referring to FIG. 1, a typical order fulfillment warehouse 10 includes a shelf 12 packed with various items that may be included in an order 16. During operation, the order 16 from the warehouse management server 15 arrives at the order server 14. The order server 14 transmits the order 16 to the selected robot 18 from a plurality of robots moving around the warehouse 10.

  In the preferred embodiment, the robot 18 shown in FIG. 2 includes an autonomous wheeled base 20 having a laser radar 22. The base 20 also comprises a transceiver 24 that allows the robot 18 to receive instructions from the order server 14 and a camera 26. The base 20 also comprises a processing unit 32 which receives data from the laser radar 22 and the camera 26 and captures information indicative of the robot's environment, and a memory 34, which together cooperate as shown in FIG. Similar to the act of navigating to the fiducial markers 30 located on the shelf 12, it performs various tasks associated with navigation within the warehouse 10. A fiducial marker 30 (eg, a two-dimensional barcode) corresponds to the container and location of the ordered item. The navigation method of the present invention is described in detail below with respect to FIGS.

  The first description described herein focuses on removing items from the container location in the warehouse to fulfill the order for shipping to the customer, but this system It is equally applicable to store or place the goods received at the storage location of the whole warehouse in the warehouse for collection or shipping to customers. The invention is also applicable to inventory management tasks associated with such warehouse systems, such as product aggregation, counting, verification, inspection, and cleanup.

  As described in more detail below, the robot 18 can be used to perform multiple tasks of different task types in an interleaved fashion. That is, the robot 18 may retrieve items, place items, and perform inventory control tasks while executing a single order as the entire warehouse 10 is moved. This type of interleaving task approach can significantly improve efficiency and performance.

  Referring again to FIG. 2, the top surface 36 of the base 20 includes a mating portion 38 that fits any one of the plurality of replaceable armatures 40. One of the armatures is shown in FIG. The particular armature 40 shown in FIG. 3 comprises a tote holder 42 for transporting the tote 44 which receives the articles, and a tablet holder 46 for supporting the tablet 48. In some embodiments, armature 40 supports one or more totes to carry an article. In another embodiment, the base 20 supports one or more totes for carrying the received items. The term "tote" as used herein is not limited to cargo holders, containers, baskets, shelves, bars on which articles can be hung, cans, crates, racks, stands, supports, containers, boxes , Canisters, tanks, and repositories.

  The robot 18 is good at moving around the warehouse 10 using current robot technology, but because of the difficulty of the technology related to the operation of the robot's objects, it takes out the items from the shelf quickly and efficiently, As for placing it on the tote 44, it is not good. A more efficient method of removing items is to physically remove the ordered item from the shelf 12 and place it in the robot 18, for example, tote 44, typically using a human local operator 50. To do the task. The robot 18 communicates the order to the local operator 50 via a tablet 48 readable by the local operator 50 or by transmitting the order to a portable device used by the local operator 50.

  Upon receiving the order 16 from the order server 14, the robot 18 proceeds to a first warehouse location, shown for example in FIG. This is performed based on the navigation software stored in memory 34 and executed by processing device 32. The navigation software identifies the environmental data collected by the laser radar 22 and the fiducial identifier ("ID") of the fiducial marker 30 corresponding to the location where the particular item can be found in the warehouse 10. , Internal table in memory 34, and camera 26 for navigating.

  When the correct location is reached, the robot 18 parks in front of the shelf 12 where the item is stored and waits for the local operator 50 to retrieve the item from the shelf 12 and place it in the tote 44. The robot 18 proceeds to the location of other items to be recovered, if any. The articles collected by the robot 18 are then delivered to the packing station 100 shown in FIG. 1, where the articles are packaged and shipped.

  Those skilled in the art will appreciate that each robot may fulfill one or more orders, and each order may include one or more items. Typically, some form of route optimization software may be included to increase efficiency, but this is beyond the scope of the present invention and will not be described herein.

  In order to simplify the description of the invention, a single robot 18 and operator 50 will be described. However, as is apparent from FIG. 1, typical performing operations include many robots and operators working with each other in a warehouse to fulfill a continuous flow order.

  The navigation method of the present invention, as well as the semantic mapping of the SKU of the item to be recovered to the fiducial ID / pose associated with the fiducial marker in the warehouse where the item is placed, with reference to FIGS. Details will be described below.

  When using one or more robots 18, a map of the warehouse 10 must be created, and the locations of the various fiducial markers distributed throughout the warehouse must be determined. For this purpose, as shown in FIG. 4, one of the robots 18 uses the laser radar 22 and SLAM (Simultaneous Localization and Mapping) to navigate the warehouse and construct the map 10a. , SLAM is a computational problem of configuration or updating of unknown environment maps. Common SLAM approximation solutions include particle filters and extended Kalman filters. Although the SLAM G mapping method is the preferred method, any suitable SLAM method can be used.

  The robot 18, based on the reflections that the laser radar receives as it scans the environment, identifies the entire space while identifying other stationary obstacles such as the open space 112 in the space, the wall 114, the object 116, and the shelf 12. When moving, it uses its own laser radar 22 to create the map 10 a of the warehouse 10.

  During or after building map 10a, one or more robots 18 are distributed throughout the warehouse located on the shelf near the container, such as 32 and 34 shown in FIG. Navigate the warehouse 10 using the camera 26 to scan the environment to locate the dual mark (two dimensional barcode). The robot 18 uses a known starting point or origin, such as the origin 110, as a fiducial. When a fiducial marker such as fiducial marker 30 shown in FIGS. 3 and 4 is positioned by robot 18 using its camera 26, the location within the warehouse relative to origin 110 is determined.

  The use of a wheel encoder and a heading sensor may determine the vector 120 and the position of the robot within the warehouse 10. Using the image of the fiducial marking / two dimensional barcode and its known size, the robot 18 determines the orientation and distance to the robot of the fiducial marking / two dimensional barcode, ie the vector 130 be able to. The known vector 120, 130 can determine the vector 140 between the origin 110 and the fiducial marker 30. From the vector 140 and the orientation of the fiducial marking / two-dimensional barcode determined for the robot 18, a pose (X, y, z, ω) defined for the fiducial marking 30 Position and orientation) can be determined.

  Turning now to the flowchart 200 of FIG. 5, which illustrates the placement process of fiducial markers. This is performed in the initial mapping mode when the robot 18 encounters a new fiducial in the warehouse while performing at least one of removal, placement and / or other tasks. In step 202, the robot 18 captures an image using the camera 26, and in step 204 searches for fiducial markers in the captured image. At step 206, if a fiducial marker is found in the image (step 204), the fiducial marker has already been stored in the memory 34 of the robot 18, as shown in FIG. It is determined whether or not it is stored. If fiducial information is already stored in memory, the flowchart returns to step 202 to capture another image. If not stored in memory, the pose is determined according to the process described above and added to the fiducial-to-pose lookup table 300 at step 208.

  A lookup table 300, which may be stored in the memory of each robot, for each fiducial sign, fiducial ID 1, 2, 3, etc., and the fiducial sign associated with each fiducial ID Includes a pose for the barcode. The pose is composed of x, y, z coordinates, along with the orientation or quaternion (x, y, z, ω) in the warehouse.

  Another lookup table 400 shown in FIG. 7, which may also be stored in the memory of each robot, is located in the warehouse 10, which is associated with a specific fiducial ID 404, eg, the number "11". Of container locations (e.g., 402a-402f). The location of the container, in this example, consists of seven alphanumeric characters. The first six letters (e.g. L01001) relate to the location of the shelf in the warehouse and the last letters (e.g. A to F) identify the specific container of the location of the shelf. In this example, there are six different container locations associated with fiducial ID "11". There may be one or more containers associated with each fiducial ID / tag.

  The location of the alphanumeric container can be understood as corresponding to the physical location within the warehouse 10 where the goods are stored, for example for a human operator such as the operator 50 shown in FIG. However, they have no meaning to the robot 18. The robot 18 uses the information in the table 300 shown in FIG. 6 to determine the pose of the fiducial ID by mapping the location to the fiducial ID and navigates to the pose described herein. be able to.

  An order fulfillment process in accordance with the present invention is illustrated in the flowchart 500 of FIG. In step 502, the warehouse management server 15 of FIG. 1 receives an order that may be comprised of one or more items to be collected. In step 504, the warehouse management server 15 determines the SKU number of the article, and in step 506, the location of the container is determined from the SKU number. The list of container locations for the order is then sent to the robot 18. In step 508, the robot 18 links the location of the container to the fiducial ID, and in step 510, acquires the pose of each fiducial ID from the fiducial ID. At step 512, the robot 18 navigates to a pose as shown in FIG. 3, where the operator can retrieve the article to be retrieved from the appropriate container and place it on the robot.

  Specific information of articles such as the SKU number and the location of the container acquired by the warehouse management server 15 allows the operator 50 to pass the particular article to be recovered when the robot arrives at each location of the fiducial marker , Can be sent to the tablet 48 on the robot 18.

  The SLAM map and the known fiducial ID pose allow the robot 18 to easily navigate to any one of the fiducial IDs using various robot navigation techniques. The preferred approach is to set an initial route to the pose of the fiducial ID, given the information of the open space 112 in the warehouse 10, the wall 114, the shelf (such as the shelf 12) and other obstacles 116. Related. As the robot starts traversing the warehouse using its own laser radar 26, it also works on static as well as other robots 18 and operators 50 or other robots 18 or operators 50, etc. Determine if there are any obstacles in the path and iteratively update the path to the pose of the fiducial marker. The robot replans the route approximately every 50 milliseconds, always searching for the most efficient and effective route while avoiding obstacles.

  By means of the SKU / Fiducial ID technology of products for fiducial pose mapping combined with SLAM navigation technology, as described herein, the robot 18 determines the location within the warehouse by means of a grid It is possible to navigate the warehouse space very efficiently and effectively without having to use more complex navigation methods than those typically used, including lines and intermediate fiducial markers.

  As mentioned above, a problem that can occur with multiple robots navigating a space is called a "race condition" and navigation to the space occupied by one or more robots by another robot It can occur when trying to gate. According to the present invention, alternative arrival locations are created for the robots to place the robots in a matrix to avoid the occurrence of race conditions. This process is illustrated in FIG. 9, where the robot 600 is shown located at the destination / pose 602. The pose 602 can correspond to any location within the warehouse space, such as, for example, a packing or loading station, or a location near a particular container. When other robots, such as robots 604, 606, and 608 attempt to navigate to pose 602 (as shown by the dotted lines from robot to pose 602), the robot is in one location, ie, matrix slot 610, 612, Re-directed to a temporary holding place such as 614.

  Matrix slots 610, 612, 614 are separate from pose 612. In this example, matrix slot 610 is separated from pose 602 by a distance x, which may be, for example, one meter. Matrix slot 612 is further away from matrix slot 610 by a distance x, and matrix slot 614 is further away from matrix slot 612 by a distance x. In this example, the distances are evenly spaced along the straight line leaving the pose 602, but this is not a requirement of the present invention. The location of the matrix slots may be non-uniform and may vary with the dynamic environment of the warehouse. The matrix slots may be spaced according to the underlying global map, and a queuing algorithm subject to existing obstacles and local map constraints. The queuing algorithm may also take into account the practical limitations of queuing in space and pauses near the destination to avoid blocking, interference with other locations, and the creation of new obstacles.

  In addition, you have to manage the appropriate matrix slots of the robot into a matrix. In the example shown in FIG. 9, the robots having the first priority occupying the pose 602 are aligned in the first matrix slot 610 and the other robots have other matrix slots based on their respective priorities. Be lined up inside. The priority is determined by the order of entry of the robot into the area 618 near the pose 602. In this case, region 618 is defined by a radius R of about 3 meters (or 3x) around pose 602. In this case, the first robot of 604 entering the area has the highest priority and is assigned to the first slot, matrix slot 610. Assuming that robot 600 is still in pose 602 and robot 604 is located in matrix slot 610, robot 606 closer to area 618 than robot 608 has the next higher priority when it enters area 618. , And thus are assigned to matrix slot 612. Assuming that robot 600 is still in pose 602 and robots 604 and 606 are located in matrix slots 610 and 612, respectively, then robot 608 enters area 618 and is assigned to matrix slot 614.

  When the robot 600 moves from the pose 602, the robot 604 moves from the matrix slot 610 to the pose 602. Robots 606 and 608 move to matrix slots 610 and 612, respectively. The next robot entering region 618 is considered to be placed in matrix slot 614. It goes without saying that it is possible to include an additional number of matrix slots to accommodate the expected traffic flow.

  The method of navigating the robot from the matrix slot to the final destination is achieved by temporarily redirecting the robot from the destination pose to the matrix slot pose. In other words, if it is determined that the robot should be placed in the matrix slot, its target pose is temporarily adjusted to a pose corresponding to the position of the matrix slot to which the robot is assigned. When the pose moves to a predefined location in the matrix, the pause is again paused to the next higher priority matrix slot pose until the original destination where the pose is reset to the original target pose can be reached Will be adjusted.

  The flowchart 700 of FIG. 10 illustrates the robot queuing process implemented by the warehouse management server 15 for a particular pose in the warehouse. In step 702, it is determined whether the target pose is occupied by the robot. If not, the process returns to step 702 until a robot that occupies the target pose appears. If the robot occupies a target pose, then in step 704 the process determines if there is another robot in the target zone or if there is a robot in one or more matrix slots Do. If it is determined that no robot is present in the target zone or one or more matrix slots, the process returns to step 702. If it is determined that there is a robot occupying the target pose or that the matrix slot is occupied, then in step 706 the robot is assigned to the appropriate matrix slot.

  If there are robots in the target zone but no robots in the matrix slot, the robots in the target zone are directed to occupy the first matrix slot, ie matrix slot 610 shown in FIG. If there is a robot in the target zone and a robot (or multiple robots in the matrix slot), the robot in the target zone will be put into the next available matrix slot as described above . If there are no robots in the target zone but robots in the matrix slot, the slotted robots stay in the same position. If it is determined in step 708 that the target pose is not occupied, the robot in the matrix slot is moved one position ahead, ie, from the matrix slot 610 to the target pose, from the matrix slot 612 to the matrix slot 610, Move as such. If the target pose is still occupied, the process returns to step 704.

  Having described the invention and its preferred embodiments, what has the novelty of the invention and is claimed to be patentable is set forth in the following claims.

Claims (15)

A method of queuing robots scheduled to go to a destination in an environment,
Determining whether a first robot occupies the destination;
If it is determined that the first robot occupies the destination, then whether a second robot destined to the destination has entered a predefined target zone near the destination Determining
Navigating the second robot to a first queue location if it is determined that the second robot has entered the predefined target zone;
Having the second robot stand by at the first queue location until the first robot does not occupy the destination;
Navigating the second robot to the destination after the first robot leaves the destination.
Method.   The method of claim 1, wherein the environment is a warehouse space containing items for fulfilling customer orders. The first matrix location is separated from the destination by a preset distance, the destination is defined by a target pose, and the first matrix location is defined by a first matrix pose Has been
The method of claim 1, wherein the second robot navigates to the first matrix location by navigating to the first matrix pose. When the first robot occupies the destination and the second robot occupies the first queue place, a third robot scheduled to go to the destination is defined in advance. Determining whether or not the target zone has been entered;
The third robot enters the predefined target zone while the first robot occupies the destination and the second robot occupies the first queue place If determined, navigate the third robot to a second queue location and the third robot at the second queue location until the first robot does not occupy the destination. The step of waiting
The method of claim 3, further comprising   The second matrix location is separated from the first matrix location by a preset distance, the second matrix location is defined by a second matrix pose, and the second robot 5. The method of claim 4, wherein navigating to the second matrix location is by navigating to the second matrix pose.   Determining if the first robot continues to occupy the destination; if not, navigating the second robot to the destination; and Further comprising the steps of navigating a robot to the first queue location, and waiting the third robot at the first queue location until the second robot does not occupy the destination. The method according to claim 5.   Navigating the second robot to the destination includes navigating the second robot to the target pose, and navigating the third robot to the first matrix location 6. The method of claim 5, including navigating the second robot to the first matrix pose. A system for a queue robot scheduled to go to a destination,
Management system,
Comprising at least a first robot and a second robot scheduled to go to a destination,
The management system is configured to communicate with the at least first robot and a second robot, and
Determining whether the first robot occupies the destination;
If it is determined that the first robot occupies the destination, then it is determined whether the second robot has entered a predefined target zone near the destination,
If it is determined that the second robot has entered the predefined target zone, then the second robot is navigated to a first queue location,
Causing the second robot to stand by at the predefined first queue location until the first robot no longer occupies the destination;
Configured to navigate the second robot to the destination after the first robot leaves the destination.
system.   9. The system of claim 8, wherein the environment is a warehouse space containing items for fulfilling customer orders. The first matrix location is separated from the destination by a preset distance, the destination is defined by a target pose, and the first matrix location is defined by a first matrix pose And
The system of claim 8, wherein the second robot navigates to the first matrix location by navigating to the first matrix pose.   The system further includes a third robot scheduled to go to the destination, wherein the management system occupies the first robot and the second robot occupies the first queue place. And the second robot is configured to determine whether the third robot has entered the predefined target zone, and the first robot occupies the destination. If it is determined that the third robot has entered the predefined target zone while the robot occupies the first queue location, then the system determines that the third robot is in the second queue 11. The system according to claim 10, comprising directing to navigate to a location and having the third robot stand by at the second queue location until the first robot no longer occupies the destination.   The second matrix location is separated from the first matrix location by a preset distance, the second matrix location is defined by a second matrix pose, and the second robot is configured to: The system of claim 11, wherein navigating to the second matrix location by navigating to a second matrix pose.   The management system is further configured to determine whether the first robot continues to occupy the destination and, if not, the second robot is configured to Inviting to navigate to a destination, the system directs the third robot to navigate to the first queue location, and the system directs the second robot to navigate to the destination The system according to claim 12, wherein the third robot is caused to stand by at the first queue place until it does not occupy.   The management system further directs the second robot to the destination by navigating the second robot to the target pose, and navigates the third robot to the first matrix pose The system of claim 13, configured to direct the third robot to the first queue location by A robot capable of navigating to a predefined location in an environment containing at least one additional robot, said robot and said at least one additional robot interacting with a management system Can be a robot,
With movement base,
A communication device enabling communication between the robot and the management system;
A processing device responsive to communication with the management system, the processing device comprising:
Navigate the robot to a destination in the environment,
Determining whether the at least one additional robot occupies the destination;
If it is determined that the at least one additional robot occupies the destination, then it is determined whether the robot has entered a predefined target zone near the destination,
If it is determined that the robot has entered the predefined target zone, the robot is navigated to a queue location,
Causing the robots to stand by at the predefined queue location until the at least one additional robot does not occupy the destination;
The processing apparatus configured to navigate the robot to the destination after the at least one additional robot leaves the destination;
Equipped with a robot.